Related papers: Optimal Distributed Searching in the Plane with an…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Distributed online optimization and game have been increasingly researched in the last decade, mostly motivated by its wide applications in sensor networks, robotics (e.g., distributed target tracking and formation control), smart grids,…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…
The fast-growing demand for fully autonomous aerial operations in shared spaces necessitates developing trustworthy agents that can safely and seamlessly navigate in crowded, dynamic spaces. In this work, we propose Social Robot Tree Search…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…
Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…
This paper explores the combination of Reinforcement Learning (RL) and search-based path planners to speed up the optimization of flight paths for airliners, where in case of emergency a fast route re-calculation can be crucial. The…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…